Abstract: Based on the ANN αth order inverse system method, this paper presents a novel method to approximately decouple the controlled nonlinear MDF robot into a number of independent SISO linear subsystems. Then well developed linear system theory is used to design an additional feedback linear controller to successfully realize the real time tracking of any arbitrary trajectory starting from arbitrary initial conditions even if the desired trajectory is not known in advance. Experiment results show its very good decoupling control and tracking performance. With the character of simple structure and without knowing the control system’s precise model, this method can be generalized to a class of MIMO nonlinear system in real field.